An adaptive based approach to improve the stability of two wheel mobile manipulator

P. K.W. Abeygunawardhana; Murakami Toshiyuki

doi:10.1109/IECON.2007.4460292

An adaptive based approach to improve the stability of two wheel mobile manipulator

P. K.W. Abeygunawardhana, Murakami Toshiyuki

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

7 Citations (Scopus)

Abstract

Mobile manipulator with two wheel will play vital role when robot working with limited space. On the other hand, improvement of two wheel vehicle will explore the technology to improve welfare and industrial robots like wheelchair robot. Two wheeled mobile manipulator has been already implemented using inverted pendulum control. But system error is relatively large. Although the stability improvemnt using passivity theory was reported, it was not succeed with trajectory motion. Therefore, performance improvement which will be achieved through changing the PD controler gains is proposed in this paper. Disturbance observer has been employed to cancel the disturbances.

Original language	English
Title of host publication	Proceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
Pages	2712-2717
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2007.4460292
Publication status	Published - 2007
Event	33rd Annual Conference of the IEEE Industrial Electronics Society, IECON - Taipei, Taiwan, Province of China Duration: 2007 Nov 5 → 2007 Nov 8

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)

Other

Other	33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
Country/Territory	Taiwan, Province of China
City	Taipei
Period	07/11/5 → 07/11/8

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/IECON.2007.4460292

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An adaptive based approach to improve the stability of two wheel mobile manipulator. / Abeygunawardhana, P. K.W.; Toshiyuki, Murakami.
Proceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON. 2007. p. 2712-2717 4460292 (IECON Proceedings (Industrial Electronics Conference)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abeygunawardhana, PKW & Toshiyuki, M 2007, An adaptive based approach to improve the stability of two wheel mobile manipulator. in Proceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON., 4460292, IECON Proceedings (Industrial Electronics Conference), pp. 2712-2717, 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON, Taipei, Taiwan, Province of China, 07/11/5. https://doi.org/10.1109/IECON.2007.4460292

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An adaptive based approach to improve the stability of two wheel mobile manipulator

Abstract

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ASJC Scopus subject areas

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